1. Cooperative Target Defense under Communication and Sensing Constraints
- Author
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Maity, Dipankar and Pourghorban, Arman
- Subjects
Electrical Engineering and Systems Science - Systems and Control - Abstract
We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some of the defenders are sensing-limited and do not have any information regarding the intruder's position or velocity at any time. The defenders may communicate with each other using a connected communication graph. We propose a decentralized feedback strategy for the defenders, which transforms the simultaneous capture problem into a unique nonlinear consensus problem. We derive a sufficient condition for simultaneous capture in terms of the agents' speeds, sensing, and communication capabilities. The proposed decentralized controller is evaluated through extensive numerical simulations., Comment: Accepted for publication in the IEEE Control Systems Letters (L-CSS)
- Published
- 2024